On the Design Optimization of a Parallel Robotic System for Liver Cancer Treatment

The paper presents the design optimization of a parallel robotic system designed for liver cancer treatment (ProHep-LCT). Liver cancer and especially hepatocellular carcinoma is one of the deadliest types of cancers around the globe. Although curative treatments (i.e. surgery) are preferred, sometimes the patients are unable to survive such a complicated intervention. For this reason, minimally invasive approaches such as brachytherapy are used. Regarding the ProHep-LCT robotic system, the brachytherapy needle trajectory is controlled via an intraoperative ultrasound (guided by a robotic arm) which delivers the tumors coordinates to the second robotic arm of the ProHep-LCT which guides the brachytherapy needles. The paper focuses on the optimization of the developed instrument of the robotic system designed to actuate the ultrasound probe.